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/* SPDX-License-Identifier: GPL-2.0 */
/* Driver for ETAS GmbH ES58X USB CAN(-FD) Bus Interfaces.
*
* File es58x_fd.h: Definitions and declarations specific to ETAS
* ES582.1 and ES584.1 (naming convention: we use the term "ES58X FD"
* when referring to those two variants together).
*
* Copyright (c) 2019 Robert Bosch Engineering and Business Solutions. All rights reserved.
* Copyright (c) 2020 ETAS K.K.. All rights reserved.
* Copyright (c) 2020, 2021 Vincent Mailhol <mailhol.vincent@wanadoo.fr>
*/
#ifndef __ES58X_FD_H__
#define __ES58X_FD_H__
#include <linux/types.h>
#define ES582_1_NUM_CAN_CH 2
#define ES584_1_NUM_CAN_CH 1
#define ES58X_FD_NUM_CAN_CH 2
#define ES58X_FD_CHANNEL_IDX_OFFSET 0
#define ES58X_FD_TX_BULK_MAX 100
#define ES58X_FD_RX_BULK_MAX 100
#define ES58X_FD_ECHO_BULK_MAX 100
enum es58x_fd_cmd_type {
ES58X_FD_CMD_TYPE_CAN = 0x03,
ES58X_FD_CMD_TYPE_CANFD = 0x04,
ES58X_FD_CMD_TYPE_DEVICE = 0xFF
};
/* Command IDs for ES58X_FD_CMD_TYPE_{CAN,CANFD}. */
enum es58x_fd_can_cmd_id {
ES58X_FD_CAN_CMD_ID_ENABLE_CHANNEL = 0x01,
ES58X_FD_CAN_CMD_ID_DISABLE_CHANNEL = 0x02,
ES58X_FD_CAN_CMD_ID_TX_MSG = 0x05,
ES58X_FD_CAN_CMD_ID_ECHO_MSG = 0x07,
ES58X_FD_CAN_CMD_ID_RX_MSG = 0x10,
ES58X_FD_CAN_CMD_ID_ERROR_OR_EVENT_MSG = 0x11,
ES58X_FD_CAN_CMD_ID_RESET_RX = 0x20,
ES58X_FD_CAN_CMD_ID_RESET_TX = 0x21,
ES58X_FD_CAN_CMD_ID_TX_MSG_NO_ACK = 0x55
};
/* Command IDs for ES58X_FD_CMD_TYPE_DEVICE. */
enum es58x_fd_dev_cmd_id {
ES58X_FD_DEV_CMD_ID_GETTIMETICKS = 0x01,
ES58X_FD_DEV_CMD_ID_TIMESTAMP = 0x02
};
/**
* enum es58x_fd_ctrlmode - Controller mode.
* @ES58X_FD_CTRLMODE_ACTIVE: send and receive messages.
* @ES58X_FD_CTRLMODE_PASSIVE: only receive messages (monitor). Do not
* send anything, not even the acknowledgment bit.
* @ES58X_FD_CTRLMODE_FD: CAN FD according to ISO11898-1.
* @ES58X_FD_CTRLMODE_FD_NON_ISO: follow Bosch CAN FD Specification
* V1.0
* @ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING: How to
* behave when CAN FD reserved bit is monitored as
* dominant. (c.f. ISO 11898-1:2015, section 10.4.2.4 "Control
* field", paragraph "r0 bit"). 0 (not disable = enable): send
* error frame. 1 (disable): goes into bus integration mode
* (c.f. below).
* @ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION: 0: Edge
* filtering is disabled. 1: Edge filtering is enabled. Two
* consecutive dominant bits required to detect an edge for hard
* synchronization.
*/
enum es58x_fd_ctrlmode {
ES58X_FD_CTRLMODE_ACTIVE = 0,
ES58X_FD_CTRLMODE_PASSIVE = BIT(0),
ES58X_FD_CTRLMODE_FD = BIT(4),
ES58X_FD_CTRLMODE_FD_NON_ISO = BIT(5),
ES58X_FD_CTRLMODE_DISABLE_PROTOCOL_EXCEPTION_HANDLING = BIT(6),
ES58X_FD_CTRLMODE_EDGE_FILTER_DURING_BUS_INTEGRATION = BIT(7)
};
struct es58x_fd_bittiming {
__le32 bitrate;
__le16 tseg1; /* range: [tseg1_min-1..tseg1_max-1] */
__le16 tseg2; /* range: [tseg2_min-1..tseg2_max-1] */
__le16 brp; /* range: [brp_min-1..brp_max-1] */
__le16 sjw; /* range: [0..sjw_max-1] */
} __packed;
/**
* struct es58x_fd_tx_conf_msg - Channel configuration.
* @nominal_bittiming: Nominal bittiming.
* @samples_per_bit: type enum es58x_samples_per_bit.
* @sync_edge: type enum es58x_sync_edge.
* @physical_layer: type enum es58x_physical_layer.
* @echo_mode: type enum es58x_echo_mode.
* @ctrlmode: type enum es58x_fd_ctrlmode.
* @canfd_enabled: boolean (0: Classical CAN, 1: CAN and/or CANFD).
* @data_bittiming: Bittiming for flexible data-rate transmission.
* @tdc_enabled: Transmitter Delay Compensation switch (0: TDC is
* disabled, 1: TDC is enabled).
* @tdco: Transmitter Delay Compensation Offset.
* @tdcf: Transmitter Delay Compensation Filter window.
*
* Please refer to the microcontroller datasheet: "SAM E70/S70/V70/V71
* Family" section 49 "Controller Area Network (MCAN)" for additional
* information.
*/
struct es58x_fd_tx_conf_msg {
struct es58x_fd_bittiming nominal_bittiming;
u8 samples_per_bit;
u8 sync_edge;
u8 physical_layer;
u8 echo_mode;
u8 ctrlmode;
u8 canfd_enabled;
struct es58x_fd_bittiming data_bittiming;
u8 tdc_enabled;
__le16 tdco;
__le16 tdcf;
} __packed;
#define ES58X_FD_CAN_CONF_LEN \
(offsetof(struct es58x_fd_tx_conf_msg, canfd_enabled))
#define ES58X_FD_CANFD_CONF_LEN (sizeof(struct es58x_fd_tx_conf_msg))
struct es58x_fd_tx_can_msg {
u8 packet_idx;
__le32 can_id;
u8 flags;
union {
u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
} __packed;
u8 data[CANFD_MAX_DLEN];
} __packed;
#define ES58X_FD_CAN_TX_LEN \
(offsetof(struct es58x_fd_tx_can_msg, data[CAN_MAX_DLEN]))
#define ES58X_FD_CANFD_TX_LEN (sizeof(struct es58x_fd_tx_can_msg))
struct es58x_fd_rx_can_msg {
__le64 timestamp;
__le32 can_id;
u8 flags;
union {
u8 dlc; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CAN */
u8 len; /* Only if cmd_id is ES58X_FD_CMD_TYPE_CANFD */
} __packed;
u8 data[CANFD_MAX_DLEN];
} __packed;
#define ES58X_FD_CAN_RX_LEN \
(offsetof(struct es58x_fd_rx_can_msg, data[CAN_MAX_DLEN]))
#define ES58X_FD_CANFD_RX_LEN (sizeof(struct es58x_fd_rx_can_msg))
struct es58x_fd_echo_msg {
__le64 timestamp;
u8 packet_idx;
} __packed;
struct es58x_fd_rx_event_msg {
__le64 timestamp;
__le32 can_id;
u8 flags; /* type enum es58x_flag */
u8 error_type; /* 0: event, 1: error */
u8 error_code;
u8 event_code;
} __packed;
struct es58x_fd_tx_ack_msg {
__le32 rx_cmd_ret_le32; /* type enum es58x_cmd_ret_code_u32 */
__le16 tx_free_entries; /* Number of remaining free entries in the device TX queue */
} __packed;
/**
* struct es58x_fd_urb_cmd - Commands received from or sent to the
* ES58X FD device.
* @SOF: Start of Frame.
* @cmd_type: Command Type (type: enum es58x_fd_cmd_type). The CRC
* calculation starts at this position.
* @cmd_id: Command ID (type: enum es58x_fd_cmd_id).
* @channel_idx: Channel index starting at 0.
* @msg_len: Length of the message, excluding CRC (i.e. length of the
* union).
* @tx_conf_msg: Channel configuration.
* @tx_can_msg_buf: Concatenation of Tx messages. Type is "u8[]"
* instead of "struct es58x_fd_tx_msg[]" because the structure
* has a flexible size.
* @rx_can_msg_buf: Concatenation Rx messages. Type is "u8[]" instead
* of "struct es58x_fd_rx_msg[]" because the structure has a
* flexible size.
* @echo_msg: Array of echo messages (e.g. Tx messages being looped
* back).
* @rx_event_msg: Error or event message.
* @tx_ack_msg: Tx acknowledgment message.
* @timestamp: Timestamp reply.
* @rx_cmd_ret_le32: Rx 32 bits return code (type: enum
* es58x_cmd_ret_code_u32).
* @raw_msg: Message raw payload.
* @reserved_for_crc16_do_not_use: The structure ends with a
* CRC16. Because the structures in above union are of variable
* lengths, we can not predict the offset of the CRC in
* advance. Use functions es58x_get_crc() and es58x_set_crc() to
* manipulate it.
*/
struct es58x_fd_urb_cmd {
__le16 SOF;
u8 cmd_type;
u8 cmd_id;
u8 channel_idx;
__le16 msg_len;
union {
struct es58x_fd_tx_conf_msg tx_conf_msg;
u8 tx_can_msg_buf[ES58X_FD_TX_BULK_MAX * ES58X_FD_CANFD_TX_LEN];
u8 rx_can_msg_buf[ES58X_FD_RX_BULK_MAX * ES58X_FD_CANFD_RX_LEN];
struct es58x_fd_echo_msg echo_msg[ES58X_FD_ECHO_BULK_MAX];
struct es58x_fd_rx_event_msg rx_event_msg;
struct es58x_fd_tx_ack_msg tx_ack_msg;
__le64 timestamp;
__le32 rx_cmd_ret_le32;
DECLARE_FLEX_ARRAY(u8, raw_msg);
} __packed;
__le16 reserved_for_crc16_do_not_use;
} __packed;
#define ES58X_FD_URB_CMD_HEADER_LEN (offsetof(struct es58x_fd_urb_cmd, raw_msg))
#define ES58X_FD_TX_URB_CMD_MAX_LEN \
ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, tx_can_msg_buf)
#define ES58X_FD_RX_URB_CMD_MAX_LEN \
ES58X_SIZEOF_URB_CMD(struct es58x_fd_urb_cmd, rx_can_msg_buf)
#endif /* __ES58X_FD_H__ */
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